Hi,
I was going through the Gazebo model plugin tutorials (http://gazebosim.org/tutorials?tut=plugins_model&ver=1.9%2B&cat=write_plugin). I was successfully able to set velocity of the object and make it move.
**However,without changing anything else, instead of using SetLinearVel, when I used SetLinearAccel, the box did not move at all.**
This is the relevant section of my code (all I did was to replace SetLinearVel in the Original code with SetLinearAccel)
public: void OnUpdate(const common::UpdateInfo & /*_info*/)
{
// Apply a linear acceleration to the model.
this->model->SetLinearAccel(math::Vector3(1,0,0));
printf("Acceleration Set\n"); //Just to see whether the function is working (and it did print it)
}
Please help me figure out what the problem is.
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Setting acceleration of object using plugins
↧
Perform one simulation step
Hello everyone!
I'm want to interface ROS and Gazebo to perform a robot control task.
However, I want to have full control of the simulation evolution, by arbitrating the simulation steps.
To be more specific, I publish a simulation clock in ROS and then:
I want to tell Gazebo to execute the next simulation step, gather data, perform calculations over them and publish control outputs for the next simulation steps.
Afterwards, run the next simulation step and start over.
I found [this](http://answers.gazebosim.org/question/5185/how-to-synchronise-ros-and-gazebo/) question, but it is outdated and with broken links.
Is there anything more recent on this topic?
Thanks,
George
↧
↧
Older version of protoc which is incompatible with your Protocol Buffer headers
I'm trying to install gazebo_ros_pkgs on ROS Indigo with the debian version of Gazebo 2.2. However, I'm getting lots of error due to mismatched protobuf header versions:> This file was generated by an older version of protoc which is incompatible with your Protocol Buffer headers
I'm using libprotobuf 2.5.0-9, the latest in Ubuntu 14.04. I've googled and tried lots of things but can't get the versions to match. Any insights on how to do this without installing Gazebo from source?
Thanks!
↧
"This file was generated by an older version of protoc" while following Gazebo tutorial.
Running Ubuntu 13.04 and Gazebo 1.9
I'm trying to follow the tutorial found [here](http://gazebosim.org/wiki/Tutorials/1.3/intermediate/animate_pose) but when I try to make it, it returns a huge page of errors based around the version of protoc I have.
I have also tried [this newer version](http://gazebosim.org/wiki/Tutorials/1.9/plugins/model_manipulation_plugin) of the tutorial.
Here is a snapshot:
In file included from /usr/include/gazebo-1.9/gazebo/msgs/MessageTypes.hh:91:0,
from /usr/include/gazebo-1.9/gazebo/msgs/msgs.hh:24,
from /usr/include/gazebo-1.9/gazebo/physics/Entity.hh:28,
from /usr/include/gazebo-1.9/gazebo/physics/Model.hh:32,
from /home/thesis/gazebo_animate_pose/animate_pose.cc:4:
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
make[2]: *** [CMakeFiles/animate_pose.dir/animate_pose.cc.o] Error 1
make[1]: *** [CMakeFiles/animate_pose.dir/all] Error 2
make: *** [all] Error 2
↧
Is there an existing model for a ball on beam system?
Hello everyone, I have a couple of hours next week that I was planning to spend with our favorite simulation framework.
Before I started though, I wanted to check if there already was an existing model of a ball on beam, or a ball on plate system.
If not, I was going to follow [Building a Visual Robot Model with URDF from Scratch](http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) assuming that still is how things are built in Gazebo these days.
↧
↧
Loading multiple system plugins with Gazebo + ROS
I'm using ROS Indigo with Gazebo. I've created a system plugin for Gazebo that interfaces with ROS. I want to load this system plugin in addition to the the gazebo_ros system plugin (libgazebo_ros_api_plugin.so). One way that I am able to do this is to pass in the following argument to "empty_world.launch" in gazebo_ros:
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Gazebo launch error OSX 10.10.5
Hello, I followed the instructions to install gazebo on OSX but I get an error when running the command gazebo.
I tried brew update and still get the same error.
I've resolved the results from brew doctor and get the message: your system is ready to brew.
I can't seem to find any log or figure a way to see what's going on behind the scene.
The other day I was getting the error message Segmentation Fault: 11
After running brew doctor I: Updated xCode to 7.1.1, deleted unexpected dylibs (libecomloadr.dylib), and updated homebrew
After running brew update today I got an error (Error. GUI Invalid arguments.)
I checked the OSX Console for system logs and see this entry below for gzserver and gzclient
Please help.
-gzclient.crash
Process: gzclient-6.5.1 [7793]
Path: /usr/local/Cellar/gazebo6/6.5.1/bin/gzclient-6.5.1
Identifier: gzclient-6.5.1
Version: ???
Code Type: X86-64 (Native)
Parent Process: gazebo-6.5.1 [7791]
Responsible: Terminal [357]
User ID: 501
Date/Time: 2015-12-09 00:39:22.746 -0500
OS Version: Mac OS X 10.10.5 (14F27)
Report Version: 11
Anonymous UUID: 6AD91210-C9EF-767D-8E9E-4B46BEE0329D
Time Awake Since Boot: 140000 seconds
Crashed Thread: 0 Dispatch queue: com.apple.main-thread
Exception Type: EXC_BAD_ACCESS (SIGSEGV)
Exception Codes: KERN_INVALID_ADDRESS at 0xfffffffffffffffb
VM Regions Near 0xfffffffffffffffb:
--> shared memory 00007ffffff9d000-00007ffffff9e000 [ 4K] r-x/r-x SM=SHM
Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0 libboost_program_options-mt.dylib 0x0000000110f7c7b2 boost::program_options::value_semantic_codecvt_helper::parse(boost::any&, std::__1::vector, std::__1::allocator>, std::__1::allocator, std::__1::allocator>>> const&, bool) const + 50
1 libboost_program_options-mt.dylib 0x0000000110f7a694 boost::program_options::store(boost::program_options::basic_parsed_options const&, boost::program_options::variables_map&, bool) + 1988
2 libgazebo_gui.6.dylib 0x000000010d9150a7 parse_args(int, char**) + 558
3 libgazebo_gui.6.dylib 0x000000010d9160e2 gazebo::gui::run(int, char**) + 131
4 gzclient 0x000000010d8c2f0e main + 27
5 libdyld.dylib 0x00007fff8543b5c9 start + 1
Thread 1:
0 libsystem_kernel.dylib 0x00007fff90524136 __psynch_cvwait + 10
1 libgazebo_common.6.dylib 0x000000010ef96fe4 gazebo::common::ModelDatabase::UpdateModelCache(bool) + 160
2 libboost_thread-mt.dylib 0x0000000110ee7715 boost::(anonymous namespace)::thread_proxy(void*) + 53
3 libsystem_pthread.dylib 0x00007fff8b4d105a _pthread_body + 131
4 libsystem_pthread.dylib 0x00007fff8b4d0fd7 _pthread_start + 176
5 libsystem_pthread.dylib 0x00007fff8b4ce3ed thread_start + 13
Thread 0 crashed with X86 Thread State (64-bit):
rax: 0x0000000110f7c780 rbx: 0xfffffffffffffffb rcx: 0x00007f9fdbd01010 rdx: 0xfffffffffffffffb
rdi: 0x00007f9fdbd01130 rsi: 0x00007f9fdbd011d0 rbp: 0x00007fff52348710 rsp: 0x00007fff52348690
r8: 0x000000000000004e r9: 0x00007f9fdbd00000 r10: 0x0000000000000a58 r11: 0x00007fff8acadb00
r12: 0x0000000000000004 r13: 0x00007fff523489d0 r14: 0x0000000000000000 r15: 0x00007f9fdbd01130
rip: 0x0000000110f7c7b2 rfl: 0x0000000000010202 cr2: 0xfffffffffffffffb
Logical CPU: 0
Error Code: 0x00000004
Trap Number: 14
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0x7fff8f414000 - 0x7fff8f4a8fff com.apple.ink.framework (10.9 - 213) <8E029630-1530-3734-A446-13353F0E7AC5> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Ink.framework/Versions/A/Ink
0x7fff8f4a9000 - 0x7fff8f4e1fff libsystem_network.dylib (412.20.3) <6105C134-6722-3C0A-A4CE-5E1261E2E1CC> /usr/lib/system/libsystem_network.dylib
0x7fff8f4e2000 - 0x7fff8f4e7fff libsystem_stats.dylib (163.30.2) /usr/lib/system/libsystem_stats.dylib
0x7fff8f519000 - 0x7fff8f52fff7 libsystem_asl.dylib (267) /usr/lib/system/libsystem_asl.dylib
0x7fff8f530000 - 0x7fff8f537ff7 libcompiler_rt.dylib (35) /usr/lib/system/libcompiler_rt.dylib
0x7fff8f7ba000 - 0x7fff8f7bdfff com.apple.help (1.3.3 - 46) /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Help.framework/Versions/A/Help
0x7fff8f7c7000 - 0x7fff8f866e27 com.apple.AppleJPEG (1.0 - 1) <6627DDD9-A8FE-3968-B23A-B6A29AA3919A> /System/Library/PrivateFrameworks/AppleJPEG.framework/Versions/A/AppleJPEG
0x7fff8fb99000 - 0x7fff8fbd9ff7 libGLImage.dylib (11.1.2) <9B05F3BF-D111-3B01-B7F8-C5EF7E02000B> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLImage.dylib
0x7fff8ff43000 - 0x7fff900d1fff libBLAS.dylib (1128) <497912C1-A98E-3281-BED7-E9C751552F61> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libBLAS.dylib
0x7fff900dd000 - 0x7fff900ddff7 liblaunch.dylib (559.40.1) <4F81CA3A-D2CE-3030-A89D-42F3DAD7BA8F> /usr/lib/system/liblaunch.dylib
0x7fff901cf000 - 0x7fff90215ff7 libFontRegistry.dylib (134.1) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ATS.framework/Versions/A/Resources/libFontRegistry.dylib
0x7fff90226000 - 0x7fff9050dffb com.apple.CoreServices.CarbonCore (1108.6 - 1108.6) <8953580E-7857-33B2-AA64-98296830D3A8> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/CarbonCore.framework/Versions/A/CarbonCore
0x7fff9050e000 - 0x7fff9052bfff libsystem_kernel.dylib (2782.40.9) <16AD15EF-3DAE-3F63-9D26-26CCE1920762> /usr/lib/system/libsystem_kernel.dylib
0x7fff90584000 - 0x7fff9058dff7 libsystem_notify.dylib (133.1.1) <61147800-F320-3DAA-850C-BADF33855F29> /usr/lib/system/libsystem_notify.dylib
0x7fff9058e000 - 0x7fff9059bfff libxar.1.dylib (255) <7CD69BB5-97BA-3858-8A8B-2F33F129E6E7> /usr/lib/libxar.1.dylib
0x7fff9059c000 - 0x7fff905ccff3 com.apple.GSS (4.0 - 2.0) <97F2A028-44CF-3188-B863-F4EEB39CBDBD> /System/Library/Frameworks/GSS.framework/Versions/A/GSS
0x7fff905d4000 - 0x7fff905e0fff com.apple.speech.synthesis.framework (5.3.11 - 5.3.11) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/SpeechSynthesis.framework/Versions/A/SpeechSynthesis
0x7fff905f1000 - 0x7fff905f2ffb libremovefile.dylib (35) <3485B5F4-6CE8-3C62-8DFD-8736ED6E8531> /usr/lib/system/libremovefile.dylib
0x7fff90608000 - 0x7fff9060cfff libpam.2.dylib (20) /usr/lib/libpam.2.dylib
0x7fff9060d000 - 0x7fff9081dff7 com.apple.CFNetwork (720.5.7 - 720.5.7) /System/Library/Frameworks/CFNetwork.framework/Versions/A/CFNetwork
0x7fff9081e000 - 0x7fff90a94ff7 com.apple.security (7.0 - 57031.40.6) /System/Library/Frameworks/Security.framework/Versions/A/Security
0x7fff90ae9000 - 0x7fff90b09ff7 com.apple.MultitouchSupport.framework (264.6 - 264.6) <1539F1F6-6334-37F3-9C52-02EFFBF4835D> /System/Library/PrivateFrameworks/MultitouchSupport.framework/Versions/A/MultitouchSupport
0x7fff90b0a000 - 0x7fff90b79fff com.apple.SearchKit (1.4.0 - 1.4.0) <80883BD1-C9BA-3794-A20E-476F94DD89A9> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/SearchKit.framework/Versions/A/SearchKit
0x7fff90bae000 - 0x7fff90bfdff7 libcurl.4.dylib (83.40.2) /usr/lib/libcurl.4.dylib
0x7fff91128000 - 0x7fff91987ff7 com.apple.CoreGraphics (1.600.0 - 788.3) <875FBF24-D90E-36B1-9F7A-AF984E8943D9> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/CoreGraphics
0x7fff91988000 - 0x7fff919efffb com.apple.datadetectorscore (6.0 - 396.1.2) /System/Library/PrivateFrameworks/DataDetectorsCore.framework/Versions/A/DataDetectorsCore
0x7fff91b94000 - 0x7fff91b96fff com.apple.loginsupport (1.0 - 1) /System/Library/PrivateFrameworks/login.framework/Versions/A/Frameworks/loginsupport.framework/Versions/A/loginsupport
0x7fff91b97000 - 0x7fff91cc7fff com.apple.UIFoundation (1.0 - 1) <466BDFA8-0B9F-3AB0-989D-F9779422926A> /System/Library/PrivateFrameworks/UIFoundation.framework/Versions/A/UIFoundation
0x7fff91cc8000 - 0x7fff91d5dff7 com.apple.ColorSync (4.9.0 - 4.9.0) <9150C2B7-2E6E-3509-96EA-7B3F959F049E> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ColorSync.framework/Versions/A/ColorSync
0x7fff91f0e000 - 0x7fff91f20ff7 libsasl2.2.dylib (194.1) <35371406-75EF-304A-A073-956C40373555> /usr/lib/libsasl2.2.dylib
0x7fff91f51000 - 0x7fff91f64ff7 com.apple.CoreBluetooth (1.0 - 1) <8D7BA9BA-EB36-307A-9119-0B3D9732C953> /System/Library/Frameworks/CoreBluetooth.framework/Versions/A/CoreBluetooth
0x7fff924f0000 - 0x7fff924fbfff libcommonCrypto.dylib (60061.30.1) /usr/lib/system/libcommonCrypto.dylib
0x7fff924fc000 - 0x7fff92536ffb com.apple.DebugSymbols (115 - 115) <6F03761D-7C3A-3C80-8031-AA1C1AD7C706> /System/Library/PrivateFrameworks/DebugSymbols.framework/Versions/A/DebugSymbols
0x7fff92ee0000 - 0x7fff92ee2ff7 libsystem_coreservices.dylib (9) <41B7C578-5A53-31C8-A96F-C73E030B0938> /usr/lib/system/libsystem_coreservices.dylib
0x7fff92eeb000 - 0x7fff93013ff7 com.apple.coreui (2.1 - 308.6) <9E0E9C6A-68F5-34C1-A17C-96226D401D4D> /System/Library/PrivateFrameworks/CoreUI.framework/Versions/A/CoreUI
0x7fff9302d000 - 0x7fff93332ff3 com.apple.HIToolbox (2.1.1 - 758.7) /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/HIToolbox.framework/Versions/A/HIToolbox
0x7fff933e8000 - 0x7fff93420fff com.apple.RemoteViewServices (2.0 - 99) /System/Library/PrivateFrameworks/RemoteViewServices.framework/Versions/A/RemoteViewServices
External Modification Summary:
Calls made by other processes targeting this process:
task_for_pid: 3
thread_create: 0
thread_set_state: 0
Calls made by this process:
task_for_pid: 0
thread_create: 0
thread_set_state: 0
Calls made by all processes on this machine:
task_for_pid: 6820460
thread_create: 0
thread_set_state: 0
VM Region Summary:
ReadOnly portion of Libraries: Total=230.4M resident=175.8M(76%) swapped_out_or_unallocated=54.6M(24%)
Writable regions: Total=30.2M written=1588K(5%) resident=2460K(8%) swapped_out=0K(0%) unallocated=27.8M(92%)
REGION TYPE VIRTUAL
=========== =======
Kernel Alloc Once 4K
MALLOC 20.3M
MALLOC (admin) 32K
STACK GUARD 56.0M
Stack 8712K
VM_ALLOCATE 8K
__DATA 15.5M
__IMAGE 528K
__LINKEDIT 84.9M
__TEXT 145.5M
__UNICODE 552K
shared memory 4K
=========== =======
TOTAL 331.9M*
gzserver.crash
Process: gzserver-6.5.1 [7792]
Path: /usr/local/Cellar/gazebo6/6.5.1/bin/gzserver-6.5.1
Identifier: gzserver-6.5.1
Version: ???
Code Type: X86-64 (Native)
Parent Process: gazebo-6.5.1 [7791]
Responsible: Terminal [357]
User ID: 501
Date/Time: 2015-12-09 00:39:22.746 -0500
OS Version: Mac OS X 10.10.5 (14F27)
Report Version: 11
Anonymous UUID: 6AD91210-C9EF-767D-8E9E-4B46BEE0329D
Time Awake Since Boot: 140000 seconds
Crashed Thread: 0 Dispatch queue: com.apple.main-thread
Exception Type: EXC_BAD_ACCESS (SIGSEGV)
Exception Codes: KERN_INVALID_ADDRESS at 0xffffffffffffffe8
VM Regions Near 0xffffffffffffffe8:
--> shared memory 00007ffffff9d000-00007ffffff9e000 [ 4K] r-x/r-x SM=SHM
Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0 libboost_program_options-mt.dylib 0x000000010873c7b2 boost::program_options::value_semantic_codecvt_helper::parse(boost::any&, std::__1::vector, std::__1::allocator>, std::__1::allocator, std::__1::allocator>>> const&, bool) const + 50
1 libboost_program_options-mt.dylib 0x000000010873a694 boost::program_options::store(boost::program_options::basic_parsed_options const&, boost::program_options::variables_map&, bool) + 1988
2 libgazebo.6.dylib 0x0000000105dab39f gazebo::Server::ParseArgs(int, char**) + 2689
3 gzserver 0x0000000105d8f83a main + 202
4 libdyld.dylib 0x00007fff8543b5c9 start + 1
Thread 1:
0 libsystem_kernel.dylib 0x00007fff90524136 __psynch_cvwait + 10
1 libgazebo_common.6.dylib 0x0000000108364fe4 gazebo::common::ModelDatabase::UpdateModelCache(bool) + 160
2 libboost_thread-mt.dylib 0x00000001086a8715 boost::(anonymous namespace)::thread_proxy(void*) + 53
3 libsystem_pthread.dylib 0x00007fff8b4d105a _pthread_body + 131
4 libsystem_pthread.dylib 0x00007fff8b4d0fd7 _pthread_start + 176
5 libsystem_pthread.dylib 0x00007fff8b4ce3ed thread_start + 13
Thread 0 crashed with X86 Thread State (64-bit):
rax: 0x000000010873c780 rbx: 0xffffffffffffffe8 rcx: 0x00007ff999d34c40 rdx: 0xffffffffffffffe8
rdi: 0x00007ff999d34b00 rsi: 0x00007ff999d34ba0 rbp: 0x00007fff59e7f1c0 rsp: 0x00007fff59e7f140
r8: 0x000000000000004e r9: 0x00007ff999f00000 r10: 0x0000000000000a58 r11: 0x00007fff8acadb00
r12: 0x0000000000000005 r13: 0x00007fff59e7f8a0 r14: 0x00007ff999f00000 r15: 0x00007ff999d34b00
rip: 0x000000010873c7b2 rfl: 0x0000000000010202 cr2: 0xffffffffffffffe8
Logical CPU: 1
Error Code: 0x00000004
Trap Number: 14
Binary Images:
0x105d80000 - 0x105d91ff7 +gzserver (0) /usr/local/bin/gzserver
0x105d9b000 - 0x105dd3ff7 +libgazebo.6.dylib (0) <3B287EDE-DEC2-3D4C-B32A-30F087FDAA9A> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo.6.dylib
0x105e15000 - 0x105e8afff +libgazebo_sensors.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_sensors.6.dylib
0x105eed000 - 0x105ff0fff +libgazebo_rendering.6.dylib (0) <3B6D2185-B192-34E5-923C-6244E444139C> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_rendering.6.dylib
0x1060d9000 - 0x1065f3fff +libfreeimage.dylib (0) <99D9757B-A31B-3689-82C4-2B6FCA2DAD22> /usr/local/opt/freeimage/lib/libfreeimage.dylib
0x1066e1000 - 0x1066f7fff +libtbb.dylib (0) <3D4D66DF-7AE9-332B-B81E-D6126B27604C> /usr/local/opt/tbb/lib/libtbb.dylib
0x106710000 - 0x106808ff7 +libgazebo_physics.6.dylib (0) <441C75DE-72E1-3DC4-B457-2AD39A74F47A> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_physics.6.dylib
0x1068d3000 - 0x106913ff7 +libgazebo_util.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_util.6.dylib
0x106974000 - 0x1069c9ff7 +libgazebo_physics_ode.6.dylib (0) <63FD19BB-8481-3EEC-B351-EF2B59E7A9A6> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_physics_ode.6.dylib
0x106a21000 - 0x106aa4ff7 +libgazebo_ode.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_ode.6.dylib
0x106ae9000 - 0x106af3fff +libgazebo_gimpact.6.dylib (0) <154F7FF1-F31F-30D8-90FA-7AD0E029A207> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_gimpact.6.dylib
0x106aff000 - 0x106b00fff +libgazebo_opende_ou.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_opende_ou.6.dylib
0x106b09000 - 0x106b0fff7 +libgazebo_ccd.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_ccd.6.dylib
0x106b12000 - 0x106b5dfff +libgazebo_opcode.6.dylib (0) <27059378-633D-3F16-A10B-01925B8FD19C> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_opcode.6.dylib
0x106b6c000 - 0x106bb5fff +libgazebo_physics_simbody.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_physics_simbody.6.dylib
0x106c1b000 - 0x106e1bfff +libSimTKsimbody.3.5.dylib (0) /usr/local/opt/simbody/lib/libSimTKsimbody.3.5.dylib
0x107051000 - 0x1072cfff7 +libSimTKmath.3.5.dylib (0) <8312AB50-5221-311A-981F-11A42AB513F2> /usr/local/opt/simbody/lib/libSimTKmath.3.5.dylib
0x1073d3000 - 0x107516fff +libSimTKcommon.3.5.dylib (0) /usr/local/opt/simbody/lib/libSimTKcommon.3.5.dylib
0x1076b3000 - 0x107704fff +libgazebo_physics_bullet.6.dylib (0) <592C47AF-A2D9-3F31-9A5B-2E934DD970ED> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_physics_bullet.6.dylib
0x10775a000 - 0x107780ff7 +libBulletSoftBody.2.83.dylib (0) <8AE628CB-6156-3DAE-A4B8-4DE1BF79C5CD> /usr/local/opt/bullet/lib/libBulletSoftBody.2.83.dylib
0x107795000 - 0x1077f9fe7 +libBulletDynamics.2.83.dylib (0) <5BEBEC39-FFFC-3F0D-A89D-CF561D074A44> /usr/local/opt/bullet/lib/libBulletDynamics.2.83.dylib
0x107823000 - 0x107894fef +libBulletCollision.2.83.dylib (0) /usr/local/opt/bullet/lib/libBulletCollision.2.83.dylib
0x1078e0000 - 0x1078eeff7 +libLinearMath.2.83.dylib (0) /usr/local/opt/bullet/lib/libLinearMath.2.83.dylib
0x1078f9000 - 0x107970ff7 +libOgreRTShaderSystem.1.7.4.dylib (0) <6CB5A734-F93C-329D-9C85-2D8043CF09AC> /usr/local/opt/ogre/lib/libOgreRTShaderSystem.1.7.4.dylib
0x1079d0000 - 0x107cdbff7 +libOgreMain.1.7.4.dylib (0) <2823357E-BFF3-332D-80C5-4CB953A3DCFD> /usr/local/opt/ogre/lib/libOgreMain.1.7.4.dylib
0x107f76000 - 0x107fc3fff +libOgreTerrain.1.7.4.dylib (0) <6154D580-C1E4-3C57-828F-6876B568EC4C> /usr/local/opt/ogre/lib/libOgreTerrain.1.7.4.dylib
0x108018000 - 0x10802fff7 +libOgrePaging.1.7.4.dylib (0) <57860149-CED4-32D4-9879-FA6E100CDFEC> /usr/local/opt/ogre/lib/libOgrePaging.1.7.4.dylib
0x108057000 - 0x1080a1fff +libgazebo_transport.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_transport.6.dylib
0x1080f8000 - 0x108114fff +libgazebo_skyx.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_skyx.6.dylib
0x108129000 - 0x108136ff7 +libgazebo_selection_buffer.6.dylib (0) <3709B4E0-B705-3945-AEA8-2B98FDF6C80D> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_selection_buffer.6.dylib
0x108145000 - 0x108149fff com.apple.agl (3.3.0 - AGL-3.3.0) <4E8F579B-A2E2-3A27-96D7-02A9465A78D8> /System/Library/Frameworks/AGL.framework/Versions/A/AGL
0x108151000 - 0x108245ff7 +libgazebo_msgs.6.dylib (0) <0184C349-1EA6-3D7C-B955-67B91BC91385> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_msgs.6.dylib
0x108326000 - 0x1083a4ff7 +libgazebo_common.6.dylib (0) <8C0B6920-8ABD-3ABF-BA3D-E8908D8DBF89> /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_common.6.dylib
0x108415000 - 0x108420ff7 +libtinyxml.dylib (0) <243B2FCA-0439-3AFB-8BF9-D60860E2ABD1> /usr/local/opt/tinyxml/lib/libtinyxml.dylib
0x10842d000 - 0x108431ff7 +libtar.0.dylib (0) <5313C6B2-D560-3D27-8E69-76C4F20E71B5> /usr/local/opt/libtar/lib/libtar.0.dylib
0x108439000 - 0x1084b6fff +libsdformat.3.dylib (0) <2161DE6F-5E71-3124-8DC2-675F90A0FDB6> /usr/local/opt/sdformat3/lib/libsdformat.3.dylib
0x108502000 - 0x108528ff7 com.apple.audio.OpenAL (1.8 - 1.8) /System/Library/Frameworks/OpenAL.framework/Versions/A/OpenAL
0x10853f000 - 0x1085d8ff7 +libprotobuf.9.dylib (0) /usr/local/opt/protobuf/lib/libprotobuf.9.dylib
0x10864a000 - 0x108669ff7 +libgazebo_math.6.dylib (0) /usr/local/Cellar/gazebo6/6.5.1/lib/libgazebo_math.6.dylib
0x10868a000 - 0x108696fff +libignition-math2.2.dylib (0) <84C871F8-322D-362B-97E8-BEF472B22F6A> /usr/local/opt/ignition-math2/lib/libignition-math2.2.dylib
0x1086a6000 - 0x1086b3fff +libboost_thread-mt.dylib (0) <42352D20-80E2-36F6-94AD-5ED17A1B70DF> /usr/local/opt/boost/lib/libboost_thread-mt.dylib
0x1086ce000 - 0x1086d9ff3 +libboost_signals-mt.dylib (0) <4EE5F441-2926-3AF6-98AE-AA458C989F23> /usr/local/opt/boost/lib/libboost_signals-mt.dylib
0x1086ed000 - 0x1086efffb +libboost_system-mt.dylib (0) <6567929D-4C44-38C4-AEA0-FE3862A45035> /usr/local/opt/boost/lib/libboost_system-mt.dylib
0x1086f7000 - 0x108704ff3 +libboost_filesystem-mt.dylib (0) <2B2DB9E0-F8CD-3B9A-9CB7-3941797EAE24> /usr/local/opt/boost/lib/libboost_filesystem-mt.dylib
0x10871b000 - 0x108757ffb +libboost_program_options-mt.dylib (0) /usr/local/opt/boost/lib/libboost_program_options-mt.dylib
0x1087b9000 - 0x10884efff +libboost_regex-mt.dylib (0) /usr/local/opt/boost/lib/libboost_regex-mt.dylib
0x1088d5000 - 0x1088e1ff7 +libboost_iostreams-mt.dylib (0) <6925111E-0CEE-3083-8746-28A5DCB81798> /usr/local/opt/boost/lib/libboost_iostreams-mt.dylib
0x108901000 - 0x108905fff +libboost_date_time-mt.dylib (0) /usr/local/opt/boost/lib/libboost_date_time-mt.dylib
0x108914000 - 0x108983ff7 +libfreetype.6.dylib (0) <143F83CB-D091-3CA5-B25D-CB69117DF45B> /usr/local/lib/libfreetype.6.dylib
0x10899d000 - 0x1089a1fff +libzzip-0.13.dylib (0) /usr/local/lib/libzzip-0.13.dylib
0x1089a9000 - 0x1089cbff7 +libpng16.16.dylib (0) /usr/local/lib/libpng16.16.dylib
0x7fff6d4c1000 - 0x7fff6d4f7887 dyld (353.2.3) /usr/lib/dyld
0x7fff83818000 - 0x7fff83823fff libGL.dylib (11.1.2) /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib
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0x7fff83938000 - 0x7fff83992ff7 com.apple.LanguageModeling (1.0 - 1) /System/Library/PrivateFrameworks/LanguageModeling.framework/Versions/A/LanguageModeling
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0x7fff8cf7e000 - 0x7fff8cf9afff com.apple.GenerationalStorage (2.0 - 209.11) <9FF8DD11-25FB-3047-A5BF-9415339B3EEC> /System/Library/PrivateFrameworks/GenerationalStorage.framework/Versions/A/GenerationalStorage
0x7fff8cf9b000 - 0x7fff8d019fff com.apple.CoreServices.OSServices (640.4 - 640.4) /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/OSServices.framework/Versions/A/OSServices
0x7fff8d316000 - 0x7fff8d51046f libobjc.A.dylib (647) <759E155D-BC42-3D4E-869B-6F57D477177C> /usr/lib/libobjc.A.dylib
0x7fff8d51a000 - 0x7fff8d629ff3 com.apple.desktopservices (1.9.3 - 1.9.3) /System/Library/PrivateFrameworks/DesktopServicesPriv.framework/Versions/A/DesktopServicesPriv
0x7fff8d62a000 - 0x7fff8d635ff7 libkxld.dylib (2782.40.9) <2ADAE067-78A0-371E-A5A8-1E7C892D193C> /usr/lib/system/libkxld.dylib
0x7fff8d636000 - 0x7fff8d683ff7 com.apple.print.framework.PrintCore (10.3 - 451.1) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/PrintCore.framework/Versions/A/PrintCore
0x7fff8d6ed000 - 0x7fff8d96cff7 com.apple.CoreData (111 - 526.3) <5A27E0D8-5E5A-335B-B3F6-2601C7B976FA> /System/Library/Frameworks/CoreData.framework/Versions/A/CoreData
0x7fff8d96d000 - 0x7fff8d995fff libxpc.dylib (559.40.1) <5C829202-962E-3744-8B50-00D38CC88E84> /usr/lib/system/libxpc.dylib
0x7fff8d996000 - 0x7fff8d9c8ff3 com.apple.frameworks.CoreDaemon (1.3 - 1.3) /System/Library/PrivateFrameworks/CoreDaemon.framework/Versions/B/CoreDaemon
0x7fff8d9c9000 - 0x7fff8da1afff com.apple.audio.CoreAudio (4.3.0 - 4.3.0) <450293F7-DAE7-3DD0-8F7C-71FC2FD72627> /System/Library/Frameworks/CoreAudio.framework/Versions/A/CoreAudio
0x7fff8da7b000 - 0x7fff8da8cff3 libsystem_coretls.dylib (35.40.1) <155DA0A9-2046-332E-BFA3-D7974A51F731> /usr/lib/system/libsystem_coretls.dylib
0x7fff8da8d000 - 0x7fff8daa9ff7 libsystem_malloc.dylib (53.30.1) /usr/lib/system/libsystem_malloc.dylib
0x7fff8db1b000 - 0x7fff8db1cff7 com.apple.print.framework.Print (10.0 - 265) <3BC4FE7F-78A0-3E57-8F4C-520E7EFD36FA> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Print.framework/Versions/A/Print
0x7fff8db1d000 - 0x7fff8db2fff7 com.apple.ImageCapture (9.0 - 9.0) <7FB65DD4-56B5-35C4-862C-7A2DED991D1F> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/ImageCapture.framework/Versions/A/ImageCapture
0x7fff8db4d000 - 0x7fff8db5eff7 libz.1.dylib (55) <88C7C7DE-04B8-316F-8B74-ACD9F3DE1AA1> /usr/lib/libz.1.dylib
0x7fff8db5f000 - 0x7fff8db6dff7 com.apple.opengl (11.1.2 - 11.1.2) <5F355713-4637-33CD-9CBA-4B4CA43FB0FE> /System/Library/Frameworks/OpenGL.framework/Versions/A/OpenGL
0x7fff8dcd0000 - 0x7fff8dd49fe7 libcorecrypto.dylib (233.30.1) <5779FFA0-4D9A-3AD4-B7F2-618227621DC8> /usr/lib/system/libcorecrypto.dylib
0x7fff8dd4e000 - 0x7fff8dd5bff7 com.apple.SpeechRecognitionCore (2.1.2 - 2.1.2) <551322E2-C1E4-3378-A218-F362985E3E3C> /System/Library/PrivateFrameworks/SpeechRecognitionCore.framework/Versions/A/SpeechRecognitionCore
0x7fff8dd5c000 - 0x7fff8ddd4ff7 com.apple.SystemConfiguration (1.14.4 - 1.14) <3DFFD7F7-BD23-3F4C-A209-C4A0D99F6573> /System/Library/Frameworks/SystemConfiguration.framework/Versions/A/SystemConfiguration
0x7fff8ddd5000 - 0x7fff8e1e2ff7 libLAPACK.dylib (1128) /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libLAPACK.dylib
0x7fff8e1e3000 - 0x7fff8e20eff3 libarchive.2.dylib (30) <8CBB4416-EBE9-3574-8ADC-44655D245F39> /usr/lib/libarchive.2.dylib
0x7fff8e233000 - 0x7fff8e254fff com.apple.framework.Apple80211 (10.3 - 1030.71.6) /System/Library/PrivateFrameworks/Apple80211.framework/Versions/A/Apple80211
0x7fff8f219000 - 0x7fff8f21fff7 libsystem_networkextension.dylib (167.40.3) /usr/lib/system/libsystem_networkextension.dylib
0x7fff8f220000 - 0x7fff8f220ff7 libunc.dylib (29) <5676F7EA-C1DF-329F-B006-D2C3022B7D70> /usr/lib/system/libunc.dylib
0x7fff8f221000 - 0x7fff8f315fff libFontParser.dylib (134.7) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ATS.framework/Versions/A/Resources/libFontParser.dylib
0x7fff8f32e000 - 0x7fff8f32ffff liblangid.dylib (117) /usr/lib/liblangid.dylib
0x7fff8f334000 - 0x7fff8f393fff com.apple.AE (681.5 - 681.7) <2BF39455-1CDD-392C-824A-9972C6B1FB57> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/AE.framework/Versions/A/AE
0x7fff8f394000 - 0x7fff8f3b4fff com.apple.IconServices (47.1 - 47.1) /System/Library/PrivateFrameworks/IconServices.framework/Versions/A/IconServices
0x7fff8f3b5000 - 0x7fff8f3b6fff libsystem_secinit.dylib (18) <581DAD0F-6B63-3A48-B63B-917AF799ABAA> /usr/lib/system/libsystem_secinit.dylib
0x7fff8f414000 - 0x7fff8f4a8fff com.apple.ink.framework (10.9 - 213) <8E029630-1530-3734-A446-13353F0E7AC5> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Ink.framework/Versions/A/Ink
0x7fff8f4a9000 - 0x7fff8f4e1fff libsystem_network.dylib (412.20.3) <6105C134-6722-3C0A-A4CE-5E1261E2E1CC> /usr/lib/system/libsystem_network.dylib
0x7fff8f4e2000 - 0x7fff8f4e7fff libsystem_stats.dylib (163.30.2) /usr/lib/system/libsystem_stats.dylib
0x7fff8f519000 - 0x7fff8f52fff7 libsystem_asl.dylib (267) /usr/lib/system/libsystem_asl.dylib
0x7fff8f530000 - 0x7fff8f537ff7 libcompiler_rt.dylib (35) /usr/lib/system/libcompiler_rt.dylib
0x7fff8f7ba000 - 0x7fff8f7bdfff com.apple.help (1.3.3 - 46) /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Help.framework/Versions/A/Help
0x7fff8f7c7000 - 0x7fff8f866e27 com.apple.AppleJPEG (1.0 - 1) <6627DDD9-A8FE-3968-B23A-B6A29AA3919A> /System/Library/PrivateFrameworks/AppleJPEG.framework/Versions/A/AppleJPEG
0x7fff8fb99000 - 0x7fff8fbd9ff7 libGLImage.dylib (11.1.2) <9B05F3BF-D111-3B01-B7F8-C5EF7E02000B> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLImage.dylib
0x7fff8ff43000 - 0x7fff900d1fff libBLAS.dylib (1128) <497912C1-A98E-3281-BED7-E9C751552F61> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libBLAS.dylib
0x7fff900dd000 - 0x7fff900ddff7 liblaunch.dylib (559.40.1) <4F81CA3A-D2CE-3030-A89D-42F3DAD7BA8F> /usr/lib/system/liblaunch.dylib
0x7fff901cf000 - 0x7fff90215ff7 libFontRegistry.dylib (134.1) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ATS.framework/Versions/A/Resources/libFontRegistry.dylib
0x7fff90226000 - 0x7fff9050dffb com.apple.CoreServices.CarbonCore (1108.6 - 1108.6) <8953580E-7857-33B2-AA64-98296830D3A8> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/CarbonCore.framework/Versions/A/CarbonCore
0x7fff9050e000 - 0x7fff9052bfff libsystem_kernel.dylib (2782.40.9) <16AD15EF-3DAE-3F63-9D26-26CCE1920762> /usr/lib/system/libsystem_kernel.dylib
0x7fff90584000 - 0x7fff9058dff7 libsystem_notify.dylib (133.1.1) <61147800-F320-3DAA-850C-BADF33855F29> /usr/lib/system/libsystem_notify.dylib
0x7fff9058e000 - 0x7fff9059bfff libxar.1.dylib (255) <7CD69BB5-97BA-3858-8A8B-2F33F129E6E7> /usr/lib/libxar.1.dylib
0x7fff9059c000 - 0x7fff905ccff3 com.apple.GSS (4.0 - 2.0) <97F2A028-44CF-3188-B863-F4EEB39CBDBD> /System/Library/Frameworks/GSS.framework/Versions/A/GSS
0x7fff905d4000 - 0x7fff905e0fff com.apple.speech.synthesis.framework (5.3.11 - 5.3.11) /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/SpeechSynthesis.framework/Versions/A/SpeechSynthesis
0x7fff905f1000 - 0x7fff905f2ffb libremovefile.dylib (35) <3485B5F4-6CE8-3C62-8DFD-8736ED6E8531> /usr/lib/system/libremovefile.dylib
0x7fff90608000 - 0x7fff9060cfff libpam.2.dylib (20) /usr/lib/libpam.2.dylib
0x7fff9060d000 - 0x7fff9081dff7 com.apple.CFNetwork (720.5.7 - 720.5.7) /System/Library/Frameworks/CFNetwork.framework/Versions/A/CFNetwork
0x7fff9081e000 - 0x7fff90a94ff7 com.apple.security (7.0 - 57031.40.6) /System/Library/Frameworks/Security.framework/Versions/A/Security
0x7fff90ae9000 - 0x7fff90b09ff7 com.apple.MultitouchSupport.framework (264.6 - 264.6) <1539F1F6-6334-37F3-9C52-02EFFBF4835D> /System/Library/PrivateFrameworks/MultitouchSupport.framework/Versions/A/MultitouchSupport
0x7fff90b0a000 - 0x7fff90b79fff com.apple.SearchKit (1.4.0 - 1.4.0) <80883BD1-C9BA-3794-A20E-476F94DD89A9> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/SearchKit.framework/Versions/A/SearchKit
0x7fff90bae000 - 0x7fff90bfdff7 libcurl.4.dylib (83.40.2) /usr/lib/libcurl.4.dylib
0x7fff91128000 - 0x7fff91987ff7 com.apple.CoreGraphics (1.600.0 - 788.3) <875FBF24-D90E-36B1-9F7A-AF984E8943D9> /System/Library/Frameworks/CoreGraphics.framework/Versions/A/CoreGraphics
0x7fff91988000 - 0x7fff919efffb com.apple.datadetectorscore (6.0 - 396.1.2) /System/Library/PrivateFrameworks/DataDetectorsCore.framework/Versions/A/DataDetectorsCore
0x7fff91b94000 - 0x7fff91b96fff com.apple.loginsupport (1.0 - 1) /System/Library/PrivateFrameworks/login.framework/Versions/A/Frameworks/loginsupport.framework/Versions/A/loginsupport
0x7fff91b97000 - 0x7fff91cc7fff com.apple.UIFoundation (1.0 - 1) <466BDFA8-0B9F-3AB0-989D-F9779422926A> /System/Library/PrivateFrameworks/UIFoundation.framework/Versions/A/UIFoundation
0x7fff91cc8000 - 0x7fff91d5dff7 com.apple.ColorSync (4.9.0 - 4.9.0) <9150C2B7-2E6E-3509-96EA-7B3F959F049E> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ColorSync.framework/Versions/A/ColorSync
0x7fff91f0e000 - 0x7fff91f20ff7 libsasl2.2.dylib (194.1) <35371406-75EF-304A-A073-956C40373555> /usr/lib/libsasl2.2.dylib
0x7fff91f51000 - 0x7fff91f64ff7 com.apple.CoreBluetooth (1.0 - 1) <8D7BA9BA-EB36-307A-9119-0B3D9732C953> /System/Library/Frameworks/CoreBluetooth.framework/Versions/A/CoreBluetooth
0x7fff924f0000 - 0x7fff924fbfff libcommonCrypto.dylib (60061.30.1) /usr/lib/system/libcommonCrypto.dylib
0x7fff924fc000 - 0x7fff92536ffb com.apple.DebugSymbols (115 - 115) <6F03761D-7C3A-3C80-8031-AA1C1AD7C706> /System/Library/PrivateFrameworks/DebugSymbols.framework/Versions/A/DebugSymbols
0x7fff92ee0000 - 0x7fff92ee2ff7 libsystem_coreservices.dylib (9) <41B7C578-5A53-31C8-A96F-C73E030B0938> /usr/lib/system/libsystem_coreservices.dylib
0x7fff92eeb000 - 0x7fff93013ff7 com.apple.coreui (2.1 - 308.6) <9E0E9C6A-68F5-34C1-A17C-96226D401D4D> /System/Library/PrivateFrameworks/CoreUI.framework/Versions/A/CoreUI
0x7fff9302d000 - 0x7fff93332ff3 com.apple.HIToolbox (2.1.1 - 758.7) /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/HIToolbox.framework/Versions/A/HIToolbox
0x7fff933e8000 - 0x7fff93420fff com.apple.RemoteViewServices (2.0 - 99) /System/Library/PrivateFrameworks/RemoteViewServices.framework/Versions/A/RemoteViewServices
External Modification Summary:
Calls made by other processes targeting this process:
task_for_pid: 3
thread_create: 0
thread_set_state: 0
Calls made by this process:
task_for_pid: 0
thread_create: 0
thread_set_state: 0
Calls made by all processes on this machine:
task_for_pid: 6820460
thread_create: 0
thread_set_state: 0
VM Region Summary:
ReadOnly portion of Libraries: Total=217.0M resident=176.1M(81%) swapped_out_or_unallocated=40.9M(19%)
Writable regions: Total=30.3M written=1708K(6%) resident=2588K(8%) swapped_out=0K(0%) unallocated=27.8M(92%)
REGION TYPE VIRTUAL
=========== =======
Kernel Alloc Once 4K
MALLOC 20.3M
MALLOC (admin) 32K
STACK GUARD 56.0M
Stack 8712K
VM_ALLOCATE 8K
__DATA 15.7M
__IMAGE 528K
__LINKEDIT 87.0M
__TEXT 130.1M
__UNICODE 552K
shared memory 4K
=========== =======
TOTAL 318.7M
↧
Definition of multiple light sources in a world file
Hi guys,
i need to include multiple light sources in my world file. By adding the default sun model in .gazebo/models as well as a manual defined directional light gazebo (v 2.2.3) crashes (for code see below).
>model://sun
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CMakeLists for plugin compilation
Hello,
I don't relly know how to use CMAKE. I would like to add some more .cc files to compile a model or world plugin for gazebo. Until now, I took the CMakLists.txt file given in the tutorial to compile (with commands "cmake ../" and "make"). I added codes to my plugin by including them as .hh file. But the code starts being pretty big and it takes 30 seconds to compile everytime I make a modification. So does anyone knows how I can modify the CMakeListst.txt file to add some other .cc files ? Here is the my actual one:
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
find_package(Boost REQUIRED COMPONENTS system)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(GAZEBO gazebo)
endif()
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=gnu++0x")
add_library(arm_control SHARED arm_control.cc)
target_link_libraries(arm_control ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
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↧
Deactivate /clock topic in gazebo ros plugins
Hi,
is it possible to deactivate the /clock-topic using gazebo with the ros_plugin? This causes conflicts, when also rosbags are replayed, when containing a own /clock topic.
Best regards!
↧
Set model velocity via msgs in Gazebo 6
I need to move a model smoothly from keyboard. For this I need to set velocity of a model via messages.
In Messages API I found only static pose arguments. In a few places on the internet I saw some comments about "geometrymsgs/Twist" topic, but they look outdated as in Gazebo 6 there isn't anything similar.
So how Can I do this without any plugins, just using messages?
↧
Get data from sensor to control a robot
Hi,
I'm totally new to Gazebo and I'm currently trying to exploit the data from the laser sensor I put on a robot. I noticed this post : http://answers.gazebosim.org/question/8086/get-data-from-sensor/, so I tried to read the laser data from the corresponding topic which is "/gazebo/default/roc_robot/hokuyo/link/laser/scan" in my case.
This is my model plugin (used by the robot model) :
namespace gazebo
{
class RocPlugin : public ModelPlugin
{
private:
physics::ModelPtr model;
transport::SubscriberPtr sptr;
public:
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
std::string topicName = "/gazebo/default/roc_robot/hokuyo/link/laser/scan";
transport::NodePtr node(new transport::Node());
model = _parent;
node->Init();
node = node->Subscribe(topicName, &RocPlugin::ReadLaserData, this);
}
void ReadLaserData(ConstRaySensorPtr &_msg)
{
std::cout << _msg->range_max() << std::endl;
}
GZ_REGISTER_MODEL_PLUGIN(RocPlugin)
}
And I got this error :
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:687: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = const gazebo::msgs::RaySensor; typename boost::detail::sp_member_access::type = const gazebo::msgs::RaySensor*]: Assertion `px != 0' failed.
Since I aim to move the robot according to the data produced by the laser I haven't tried to write a plugin for the laser because even if I manage to read data from a sensor plugin I need those in my model plugin to control my robot.
Can you give me a tip for doing it ? ( Thank you ! )
↧
Robot spawns upside down
When loading a robot model in gazebo from ROS and URDF the robot always spawns upside down and I am unable to figure out why. The URDF is included below:
**wheel.urdf:**
transmission_interface/SimpleTransmission 1 VelocityJointInterface
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↧
Getting different behaviours of the same robot that I launch in two different graphic cards
Hello,
I installed Gazebo in a remote machine that has 40 cores but no good graphic card (Matrox Electronics Systems Ltd). This allows me to accelerate learning process (I am using genetoc algorithm to evolve robot locomotion).
To see how robots behave, I choose one of theme from the remote machine and I launch it in Gazebo in my local machine (i7 and AMD graphic card). Result: they dont have the same behaviour; I mean that the rabot, in remote machine walks 3 meters but in my local machine walks 1 meter !
So my qestions are:
1. Does Gazebo support Matrox graphic card and work propely on it ?
2. For the same robot with same controller, I get different behaviours because of different graphic cards ?
Thank you in advance !
↧
Control a differental drive robot without ROS
Hi,
First of all, I'm a newbie in this field. I want to control a differential drive robot(polaris2dx), basically, I need to move the robot to a specific location with a given pose. How can I apply different velocities to each link/joint(so as to apply different velocities to each wheel). Can anyone provide me an example plugin for this.
Thanks in advance.
↧
change actor behaviour at runtime
Hi there,
is it possible to change the behaviour of an actor at runtime? For example changing the trajectory or adding new waypoints to it. Maybe via a topic or a plugin?
Many thanks in advance and best regards.
↧
Gazebo cannot start with camera
Hi, when I try to load any world with a camera I find this error:
*$ gazebo --verbose worlds/camera.world
Gazebo multi-robot simulator, version 6.1.0
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
Gazebo multi-robot simulator, version 6.1.0
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.149.29.249
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.149.29.249
gzserver: /build/ogre-1.9-VJX7tp/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.
[Err] [Connection.cc:539] Connection[16] Closed during Read
[Err] [TransportIface.cc:374] Unable to read from master
[Err] [GLWidget.cc:822] Unable to connect to a running Gazebo master.*
Please I need help, I don't know how to solve this problem, I could reinstall Gazebo but I would need to know a Gazebo version I can use with camera.
Thanks for your time!
R
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↧
Is there a library or function for calculating distance/angles between models?
I need to calculate the real, not estimated, distance and angles between two models in Gazebo. I need to know what angle the second model is in the z and y direction from the first model, using the first models orientation.
To better explain with an example of what I'm doing, if I have a quadcopter with a camera facing in any direction, and there is another model in the camera, what is the real angle between where the quadcopter is currently facing and the object in the left/right direction of the camera and what is the real angle between where the quadcopter is currently facing and the object in the up/down direction of the camera.
This is for comparison purposes to angles estimated from the image taken from the camera. I need them to be as close to exact as possible.
I was hoping there was already some package or functions for this. I looked at the gazebo/math directory, and I see some functions there to help with the calculations, but not one that does the complete calculation of angles/distances between two given positions/orientations.
So, are there any packages/functions that do that? Or, will I need to figure out the calculations from scratch?
Thanks.
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Error while launching model in gazebo
I have built an urdf file from solidworks and converted the urdf to sdf as below. 0 0 0 0 -0 0 -0.3317 -0.71959 -0.39019 0 -0 0 0.55378 0.0061249 0.00016086 -8.6651e-18 0.0041631 -1.4656e-17 0.010283 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Base_plate.STL 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Base_plate.STL 0 0 -0.31952 0.39256 -0.57008 -1.5708 1.1481 -6.76601e-16 2.2204e-16 0 0.031164 0 -0 0 0.056555 2.4476e-05 -2.8588e-35 1.0281e-20 2.4476e-05 -1.2617e-20 7.4341e-06 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Castor_F.STL 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Castor_F.STL 0 0 Castor_F Base_plate -3.34991e-06 1 -1.50683e-06 -1e+16 1e+16 -0.34387 0.39256 -0.86909 1.5708 -0.93144 -3.14159 -1.1102e-16 0 0.031164 0 -0 0 0.056555 2.4476e-05 0 -3.9352e-20 2.4476e-05 -1.951e-20 7.4341e-06 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Castor_R.STL 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Castor_R.STL 0 0 Castor_R Base_plate -1.02941e-05 1 -2.19172e-06 -1e+16 1e+16 -0.46668 0.40756 -0.70859 2.512 0.081268 3.42872e-15 -0.039049 2.2204e-16 2.498e-15 0 -0 0 0.45064 0.00091608 -9.6693e-19 -1.7816e-18 0.00053395 1.3553e-19 0.00053395 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Wheel_L.STL 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Wheel_L.STL 0 0 Wheel_L Base_plate -0.9967 -3.41567e-15 0.0811786 -1e+16 1e+16 -0.14688 0.40756 -0.73464 -2.7127 -0.081268 3.14159 0.010951 1.1102e-16 -1.1102e-16 0 -0 0 0.45064 0.00091608 -1.2355e-19 1.0715e-18 0.00053395 -6.7763e-20 0.00053395 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Wheel_R.STL 0 0 0 0 -0 0 1 1 1 model://JMbot1/meshes/Wheel_R.STL 0 0 Wheel_R Base_plate -0.9967 7.32216e-06 0.0811786 -1e+16 1e+16
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projector transformation set in urdf is ignored
Hi, all
I'm trying to use gazebo with PR2 Robot, and I have a trouble with projector.
The pattern is projected behind of the PR2.
Looking into the code deeply, I found that the `` tag of the projector in urdf seems to be ignored.
https://github.com/PR2/pr2_common/blob/indigo-devel/pr2_description/urdf/sensors/projector_wg6802418.gazebo.xacro#L10
How we can apply projector pose when spawn model on gazebo?
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